version: 66.14
glider: 219
mission: 15
dive: 326
start: 5 27 121 7 56 22
data:
$ID,219
$MISSION,15
$DIVE,326
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,20
$D_TGT,990
$D_ABORT,1010
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,260
$T_MISSION,300
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,50
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,55689
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00316228
$HD_B,0.011885
$HD_C,5.7000002e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,375
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,10
$N_GPS,100440
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,250
$PITCH_MAX,3914
$C_PITCH,1760
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,43
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,251
$ROLL_MAX,3825
$ROLL_DEG,40
$C_ROLL_DIVE,2825
$C_ROLL_CLIMB,2800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,67
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2968
$VBD_DBAND,2
$VBD_CNV,-0.25119999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0013
$VBD_PUMP_AD_RATE_SURFACE,1
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,2
$AH0_24V,350
$AH0_10V,0
$MINV_24V,10
$MINV_10V,10
$MAXI_24V,0.60000002
$MAXI_10V,1.4
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-147.66289
$PRESSURE_SLOPE,0.00010781933
$AD7714Ch0Gain,1
$COMPASS_USE,4
$ALTIM_PING_FIT,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,5
$XPDR_VALID,6
$XPDR_INHIBIT,99
$XPDR_INT,0
$XPDR_REP,0
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.25
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,147
$LOGGERDEVICE3,131
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,150
$PHONE_DEVICE,49
$GPS_DEVICE,64
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0044368538
$SEABIRD_T_H,0.0006575333
$SEABIRD_T_I,2.7761149e-05
$SEABIRD_T_J,3.5137082e-06
$SEABIRD_C_G,-10.037535
$SEABIRD_C_H,1.1079766
$SEABIRD_C_I,-0.0022889124
$SEABIRD_C_J,0.00024077215
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$ES_RECORDABOVE,2000.0
$ES_PROFILE,3.0
$ES_XMITPROFILE,0.0
$ES_UPLOADMAX,100000.0
$ES_STARTS,301.0
$ES_NDIVE,1.0
$ES_DL_HEADERSKIP,105044.0
$ES_DL_RECORDLENGTH,10086.0
$ES_DL_NRECORD,100.0
$ES_DL_RECORDCOUNT,3.0
$CP_RECORDABOVE,2000.0
$CP_PROFILE,0.0
$CP_XMITPROFILE,0.0
$CP_UPLOADMAX,0.0
$CP_STARTS,0.0
$CP_NDIVE,1.0
$GPS1,270521,074231,4844.2061,-1452.4033,31,1.0,32,-4.8,0.9,119.7,8,10.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-41.6
$GPS2,270521,075519,4844.0962,-1452.1997,3,0.6,5,-4.8,0.4,155.6,12,9.5
$SPEED_LIMITS,0.107,0.282
$TGT_NAME,MLF2_92_TGT
$TGT_LATLONG,4847.078,-1454.922
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,339.7,6445,-28.0,-12.692,-30.72,1219
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,7,end surface,CONTROL_FINISHED_OK
$STATE,8,begin dive
$GC,12,-0.78,-100.7,218,2821,1464,1468,0.0,0.0,0,114,0.00,0.00,-96.28,0.004,16390,0.000,0.000,217,2823,3368,3357,3379,0,0,0,0,0,0,14.72,12.85,14.71
$GC,118,-0.88,-175.2,218,2824,3356,3380,2.7,-1.1,17,139,5.60,2.42,-8.50,0.012,18980,0.339,0.051,1467,1430,3668,3637,3700,0,0,0,0,0,0,14.02,13.47,14.39
$GC,164,-0.93,-175.2,1467,1427,3629,3701,11.3,-17.2,24,171,0.00,2.60,0.00,0.000,1158,0.000,0.067,1458,2830,3664,3629,3700,0,0,0,0,0,0,14.56,14.43,14.57
$GC,357,-0.93,-175.2,1458,2830,3628,3700,48.2,-18.9,61,364,0.00,1.70,0.00,0.000,260,0.000,0.089,1450,3831,3664,3629,3700,0,0,0,0,0,0,14.76,14.38,14.80
$GC,413,-0.93,-175.2,1450,3831,3628,3699,59.2,-18.7,71,419,0.00,1.60,0.00,0.000,1030,0.000,0.035,1457,2812,3664,3629,3700,0,0,0,0,0,0,14.55,14.49,14.57
$GC,608,-0.93,-175.2,1450,2810,3629,3700,98.1,-21.4,108,614,0.00,0.00,0.00,0.000,6,0.000,0.000,1450,2810,3662,3629,3696,0,0,0,0,0,0,14.79,14.81,14.81
$GC,803,-0.93,-175.2,1450,2810,3629,3704,134.2,-19.3,128,808,0.00,2.38,0.00,0.000,516,0.000,0.034,1450,1439,3665,3630,3700,0,0,0,0,0,0,14.80,14.49,14.83
$GC,871,-0.98,-175.2,1450,1437,3630,3700,146.3,-15.0,141,879,0.00,2.62,0.00,0.000,1158,0.000,0.069,1439,2839,3664,3629,3700,0,0,0,0,0,0,14.51,14.38,14.54
$GC,1059,-0.96,-175.2,1439,2847,3630,3700,179.4,-17.7,160,1064,0.00,2.45,0.00,0.000,644,0.000,0.036,1440,1438,3664,3629,3700,0,0,0,0,0,0,14.83,14.57,14.85
$GC,1087,-0.96,-175.2,1439,1436,3630,3700,184.5,-16.5,165,1095,0.00,2.62,0.00,0.000,1030,0.000,0.072,1429,2831,3665,3630,3700,0,0,0,0,0,0,14.50,14.38,14.54
$GC,1275,-0.93,-175.2,1428,2831,3630,3700,218.5,-19.0,184,1280,0.15,1.70,0.00,0.000,2436,0.297,0.083,1455,3827,3665,3630,3700,0,0,0,0,0,0,14.11,14.38,14.28
$GC,1313,-0.93,-175.2,1455,3827,3630,3700,225.3,-17.9,191,1320,0.00,1.58,0.00,0.000,1030,0.000,0.037,1455,2814,3665,3630,3700,0,0,0,0,0,0,14.59,14.51,14.59
$GC,1500,-0.93,-175.2,1454,2811,3630,3700,257.4,-17.0,210,1507,0.00,0.00,0.00,0.000,6,0.000,0.000,1455,2811,3665,3630,3700,0,0,0,0,0,0,14.83,14.86,14.85
$GC,1690,-0.93,-175.2,1455,2811,3637,3700,289.4,-16.8,229,1698,0.00,0.00,0.00,0.000,6,0.000,0.000,1455,2811,3667,3633,3701,0,0,0,0,0,0,14.82,14.85,14.84
$GC,1880,-0.93,-175.2,1455,2811,3630,3700,323.5,-18.4,248,1887,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,2811,3665,3630,3700,0,0,0,0,0,0,14.83,14.85,14.85
$GC,2070,-0.93,-175.2,1455,2811,3631,3707,357.5,-18.1,267,2075,0.00,1.80,0.00,0.000,260,0.000,0.086,1447,3837,3665,3630,3700,0,0,0,0,0,0,14.78,14.45,14.81
$GC,2098,-0.93,-175.2,1447,3837,3630,3696,362.9,-18.4,272,2104,0.00,1.58,0.00,0.000,1030,0.000,0.037,1447,2825,3670,3640,3700,0,0,0,0,0,0,14.64,14.62,14.65
$GC,2284,-0.93,-175.2,1447,2822,3623,3700,398.3,-19.7,291,2291,0.00,0.00,0.00,0.000,6,0.000,0.000,1447,2823,3663,3630,3696,0,0,0,0,0,0,14.81,14.84,14.83
$GC,2475,-0.93,-175.2,1447,2822,3627,3700,434.3,-18.9,310,2480,0.00,2.40,0.00,0.000,516,0.000,0.034,1446,1438,3665,3629,3701,0,0,0,0,0,0,14.84,14.57,14.86
$GC,2500,-0.93,-175.2,1446,1434,3629,3700,438.5,-17.1,314,2506,0.00,2.60,0.00,0.000,1030,0.000,0.073,1435,2827,3664,3629,3700,0,0,0,0,0,0,14.50,14.37,14.54
$GC,2695,-0.91,-175.2,1436,2827,3631,3702,476.1,-19.0,334,2701,0.12,1.70,0.00,0.000,2436,0.308,0.083,1453,3827,3664,3629,3700,0,0,0,0,0,0,14.13,14.36,14.34
$GC,2734,-0.91,-175.2,1454,3827,3629,3700,484.3,-19.0,341,2742,0.00,1.58,0.00,0.000,1030,0.000,0.039,1454,2821,3667,3629,3706,0,0,0,0,0,0,14.60,14.58,14.62
$GC,2921,-0.91,-175.2,1454,2813,3629,3700,517.7,-18.2,360,2928,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,2812,3664,3629,3700,0,0,0,0,0,0,14.83,14.85,14.84
$GC,3111,-0.91,-175.2,1454,2812,3623,3700,551.0,-17.3,379,3116,0.00,1.80,0.00,0.000,260,0.000,0.086,1446,3830,3661,3623,3700,0,0,0,0,0,0,14.83,14.36,14.85
$GC,3135,-0.91,-175.2,1446,3830,3629,3700,554.9,-16.8,383,3141,0.00,1.58,0.00,0.000,1030,0.000,0.039,1446,2826,3666,3632,3700,0,0,0,0,0,0,14.62,14.56,14.64
$GC,3330,-0.91,-175.2,1444,2817,3629,3700,589.9,-17.7,403,3335,0.00,2.40,0.00,0.000,516,0.000,0.034,1446,1438,3665,3631,3700,0,0,0,0,0,0,14.81,14.55,14.84
$GC,3350,-0.91,-175.2,1446,1438,3628,3700,593.4,-18.3,406,3358,0.12,2.60,0.00,0.000,3078,0.273,0.068,1460,2829,3667,3629,3705,0,0,0,0,0,0,14.19,14.41,14.45
$GC,3540,-0.93,-175.2,1460,2829,3629,3700,623.7,-17.0,425,3546,0.00,1.73,0.00,0.000,388,0.000,0.088,1455,3831,3664,3628,3700,0,0,0,0,0,0,14.81,14.35,14.84
$GC,3615,-0.95,-175.2,1454,3831,3629,3700,636.6,-16.8,439,3621,0.00,1.58,0.00,0.000,1158,0.000,0.038,1455,2820,3665,3631,3700,0,0,0,0,0,0,14.64,14.59,14.66
$GC,3810,-0.95,-175.2,1455,2815,3629,3700,669.5,-17.4,459,3816,0.00,2.38,0.00,0.000,516,0.000,0.034,1455,1442,3663,3627,3700,0,0,0,0,0,0,14.83,14.47,14.85
$GC,3855,-1.02,-175.2,1455,1441,3629,3700,677.0,-16.1,467,3861,0.00,2.60,0.00,0.000,1158,0.000,0.069,1444,2834,3665,3627,3703,0,0,0,0,0,0,14.49,14.36,14.52
$GC,4050,-1.02,-175.2,1443,2834,3628,3700,713.2,-19.2,487,4055,0.00,1.70,0.00,0.000,260,0.000,0.088,1436,3827,3664,3629,3700,0,0,0,0,0,0,14.81,14.33,14.84
$GC,4104,-1.02,-175.2,1437,3827,3628,3700,724.1,-20.0,497,4110,0.00,1.58,0.00,0.000,1030,0.000,0.039,1436,2820,3664,3628,3700,0,0,0,0,0,0,14.54,14.50,14.57
$GC,4299,-1.02,-175.2,1435,2817,3629,3701,762.7,-19.6,517,4307,0.00,0.00,0.00,0.000,6,0.000,0.000,1436,2817,3664,3628,3700,0,0,0,0,0,0,14.83,14.85,14.85
$GC,4489,-1.02,-175.2,1435,2817,3628,3701,800.9,-20.1,536,4495,0.00,1.80,0.00,0.000,260,0.000,0.088,1428,3828,3664,3628,3700,0,0,0,0,0,0,14.81,14.31,14.83
$GC,4565,-1.00,-175.2,1427,3828,3636,3700,816.8,-22.6,550,4571,0.00,1.58,0.00,0.000,1158,0.000,0.037,1428,2820,3664,3628,3700,0,0,0,0,0,0,14.56,14.51,14.57
$GC,4761,-0.98,-175.2,1427,2813,3628,3702,856.9,-20.5,570,4766,0.00,2.40,0.00,0.000,644,0.000,0.034,1428,1436,3664,3628,3700,0,0,0,0,0,0,14.83,14.53,14.85
$GC,4789,-1.00,-175.2,1428,1435,3628,3700,862.6,-18.2,575,4797,0.00,2.62,0.00,0.000,1158,0.000,0.070,1417,2834,3664,3628,3700,0,0,0,0,0,0,14.46,14.32,14.52
$GC,4977,-0.98,-175.2,1417,2834,3628,3700,897.4,-19.2,594,4982,0.00,1.73,0.00,0.000,388,0.000,0.087,1409,3833,3665,3630,3700,0,0,0,0,0,0,14.82,14.33,14.85
$GC,5053,-0.92,-175.2,1409,3833,3629,3700,912.5,-19.3,608,5059,0.22,1.58,0.00,0.000,3206,0.265,0.037,1459,2827,3663,3628,3699,0,0,0,0,0,0,14.04,14.58,14.33
$GC,5251,-0.96,-175.2,1459,2823,3628,3700,944.9,-15.8,628,5256,0.00,1.83,0.00,0.000,388,0.000,0.105,1453,3820,3664,3628,3700,0,0,0,0,0,0,14.79,14.28,14.81
$GC,5360,-1.00,-175.2,1453,3820,3628,3700,964.1,-16.9,649,5368,0.00,1.58,0.00,0.000,1158,0.000,0.038,1453,2815,3664,3627,3702,0,0,0,0,0,0,14.53,14.48,14.55
$STATE,5533,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5533,begin apogee
$GC,5541,-0.12,0.0,1453,2813,3628,3700,990.2,-13.6,667,5717,0.98,0.00,171.12,2.090,10246,0.213,0.000,1715,2811,2969,2944,2994,0,0,0,0,0,0,14.04,13.97,13.03
$STATE,5719,end apogee,CONTROL_FINISHED_OK
$STATE,5719,begin climb
$GC,5723,0.88,175.2,1715,2812,2942,2994,994.5,0.0,685,5911,1.02,1.98,175.43,2.039,10500,0.102,0.096,2037,3823,2269,2230,2309,0,0,0,0,0,0,14.02,13.81,12.91
$GC,5929,0.88,175.2,2036,3823,2228,2306,972.8,16.6,722,5937,0.00,1.70,0.00,0.000,1030,0.000,0.041,2043,2844,2264,2228,2301,0,0,0,0,0,0,14.04,14.00,14.09
$GC,6116,0.88,175.2,2043,2843,2221,2306,940.4,16.8,741,6121,0.00,2.58,0.00,0.000,516,0.000,0.044,2054,1388,2263,2221,2306,0,0,0,0,0,0,14.64,14.42,14.66
$GC,6184,0.91,175.2,2054,1386,2222,2310,929.5,15.2,754,6192,0.00,2.70,0.00,0.000,1158,0.000,0.080,2055,2803,2263,2222,2305,0,0,0,0,0,0,14.52,14.40,14.54
$GC,6371,0.91,175.2,2054,2803,2220,2304,898.0,16.6,773,6376,0.00,1.77,0.00,0.000,260,0.000,0.097,2056,3831,2262,2220,2304,0,0,0,0,0,0,14.73,14.47,14.76
$GC,6456,0.87,175.2,2054,3831,2220,2301,882.2,17.3,789,6462,0.00,1.75,0.00,0.000,1158,0.000,0.036,2062,2753,2260,2219,2301,0,0,0,0,0,0,14.58,14.54,14.66
$GC,6651,0.87,175.2,2062,2748,2219,2301,848.6,16.2,809,6657,0.00,2.33,0.00,0.000,516,0.000,0.037,2074,1420,2263,2219,2308,0,0,0,0,0,0,14.83,14.62,14.83
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$STATE,11859,end climb,SURFACE_DEPTH_REACHED
$STATE,11859,begin surface coast
$FINISH,0.8,1.026876
$STATE,11871,end surface coast,CONTROL_FINISHED_OK
$STATE,11871,begin surface
$SM_CCo,11890,146.32,0.954,0,0,1475,375.04
$SM_GC,0.90,5.28,0.00,146.32,0.046,0.000,0.954,224,2807,1475,-4.70,-0.48,375.04,0,0,0,0,0,0,14.59,14.89,13.70
$IRIDIUM_FIX,4842.98,-1444.12,270521,074656
$TT8_MAMPS,0.02247,0.76398
$HUMID,44.32
$INTERNAL_PRESSURE,8.40268
$TCM_TEMP,17.00
$XPDR_PINGS,58
$SC_FREEKB,3717120
$24V_AH,12.85,217.603
$10V_AH,12.69,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,14.325,161.225,346.550,146.325,0.000,0.000,0.000,458.175,14.500,0.000,17.640,3474.407,5231.775,818.752,2805.479,488.457,0.000,2452.742,0.000,2273.083,0.000,0.546,0.000
$DEVICE_MAMPS,338.895,104.805,2089.980,953.955,0.000,0.000,0.000,204.255,420.000,0.000,8.990,12.110,2.190,11.360,30.090,45.070,0.000,15.600,0.000,2.250,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,echo,NCP,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11916.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,34.623,0.000,0.000,0.000
$MEM,293112
$DATA_FILE_SIZE,53208,1449
$CAP_FILE_SIZE,171703,0
$CFSIZE,1024409600,966901760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.039,306.24,1
$GPS,270521,111832,4845.701,-1453.515,43,1.6,45,-4.8,0.1,0.0,6,9.3